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Minimum jerk trajectory

Created Freitag 29 April 2016

Implementation


Generating trajectory from 1 point to another point with minimal jerk.

./min_jerk.m → MATLAB function for minimum trajectory generation
./test_min_jerk.m → Test file that calls min_jerk.m

The codes above are submitted to http://www.mathworks.com/matlabcentral/fileexchange/53164-minimum-jerk-trajectory-generation

More overview on minimum jerk trajectory can be found at http://shadmehrlab.org/book/minimum_jerk/minimumjerk.htm.

References


Amirabdollahian, F., Loureiro, R., & Harwin, W. S. (2002). Minimum jerk trajectory control for rehabilitation and haptic applications. In Proceedings of IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3380–3385). http://doi.org/10.1109/ROBOT.2002.1014233
Kyriakopoulos, K. J. (1994). Minimum jerk for trajectory planning and control. Robotica, 12(02), 109. http://doi.org/10.1017/S0263574700016696